From d55ccd96c69f35880bc7927b10a8d5768591088b Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Mon, 10 Aug 2015 16:24:57 +0200 Subject: [PATCH] let vtol attitude control module publish attitude setpoint during transition Conflicts: src/modules/commander/commander.cpp src/modules/fw_att_control/fw_att_control_main.cpp src/modules/mc_pos_control/mc_pos_control_main.cpp --- src/modules/commander/commander.cpp | 2 +- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 851529bb54..20efb4db3c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1599,7 +1599,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status); status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab; - /* Make sure that this is only adjusted if vehicle really is of type vtol*/ + /* Make sure that this is only adjusted if vehicle really is of type vtol */ if (is_vtol(&status)) { status.is_rotary_wing = vtol_status.vtol_in_rw_mode; status.in_transition_mode = vtol_status.vtol_in_trans_mode; diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 6776d78871..53eff5977f 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1610,7 +1610,9 @@ MulticopterPositionControl::task_main() /* publish attitude setpoint * Do not publish if offboard is enabled but position/velocity control is disabled, - * in this case the attitude setpoint is published by the mavlink app + * in this case the attitude setpoint is published by the mavlink app. Also do not publish + * if the vehicle is a VTOL and it's just doing a transition (the VTOL attitude control module will generate + * attitude setpoints for the transition). */ if (!(_control_mode.flag_control_offboard_enabled && !(_control_mode.flag_control_position_enabled ||